CN116414088A - Method for controlling agricultural machine and configuration method for agricultural machine parameters - Google Patents
Method for controlling agricultural machine and configuration method for agricultural machine parameters Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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Abstract
The embodiment of the application provides a method for controlling an agricultural machine, a configuration method and device of agricultural machine parameters, a processor, a storage medium and the agricultural machine. The method comprises the following steps: acquiring an operation signal of the agricultural machine in the operation process of the agricultural machine in an automatic driving mode; determining an action mode of the agricultural machine according to the operation signal, wherein the action mode comprises at least one of a left turning and turning mode, a right turning and turning mode and an obstacle avoidance detour mode; and controlling the agricultural machine to execute the action corresponding to the action mode. Through the technical scheme, the action mode of the agricultural machine can be adjusted according to different operation demands in the operation process of the automatic driving mode, manual participation is not needed for repeatedly adjusting the action of the agricultural machine, the labor intensity of operators is reduced, and the operation efficiency is improved.
Description
Technical Field
The present application relates to the field of agricultural machinery, and in particular, to a method for controlling an agricultural machine, a method and apparatus for configuring parameters of an agricultural machine, a processor, a storage medium, and an agricultural machine.
Background
Along with the popularization of unmanned operation in agricultural machinery, the cooperation requirement of unmanned agricultural machinery and agricultural machinery action is also higher and higher. From the current development of agricultural machinery, the development of unmanned tractors is the most important part of them.
Taking unmanned tractor as an example, the current unmanned tractor control mode is single, and only the unmanned tractor control mode is used for lifting and falling after turning or turning around. However, due to the diversity of agricultural working environments, different working modes are required to be adopted in different agricultural environments. Such as when working with a tractor, it is also necessary to control, for example, the turning plow, the rotary tillage PTO output, etc. to meet the work demands of the tractor.
In the prior art, manual participation is also needed to control the output of a turnover plow, a rotary tillage PTO and the like, and accurate control is difficult to achieve. And the action of the agricultural implement is controlled by manual repeated adjustment, so that the labor intensity of operators is high and the working efficiency is low. In addition, control can be performed by modifying programs of the whole vehicle controller and the navigation controller of the tractor. However, in the case that the tractor needs to replace the plow, further modification of the program is required, and the operability is low.
Disclosure of Invention
An object of an embodiment of the application is to provide a method for controlling an agricultural machine, a configuration method and device of agricultural machine parameters, a processor, a storage medium and an agricultural machine.
To achieve the above object, a first aspect of the present application provides a method for controlling an agricultural machine, comprising:
acquiring an operation signal of the agricultural machine in the operation process of the agricultural machine in an automatic driving mode;
determining an action mode of the agricultural machine according to the operation signal, wherein the action mode comprises at least one of a left turning and turning mode, a right turning and turning mode and an obstacle avoidance detour mode;
and controlling the agricultural machine to execute the action corresponding to the action mode.
Optionally, the agricultural machine includes an agricultural implement, the action mode further includes a work mode, and controlling the agricultural machine to perform an action corresponding to the action mode includes: in the working mode, controlling the farm tool to descend and controlling the hydraulic output to be executed in place; controlling the farm tool to lift in a left turning and turning mode or a right turning and turning mode until the farm tool is lifted to a first preset height, controlling the farm tool to turn over, and controlling the farm tool to drop after the turning over is completed; under the obstacle avoidance detouring mode, controlling the farm tool to be lifted to a first preset height until the detouring is finished, and controlling the farm tool to be lowered; wherein, in the process of controlling the lifting of the farm tool, when the farm tool is lifted to a second preset height, the rear power output clutch of the farm machine is automatically separated; in the process of controlling the agricultural implement to descend, the rear power output clutch is automatically combined when the agricultural implement descends to a second preset height.
Optionally, the agricultural machine further comprises a touch screen and/or an adjusting knob, the method further comprising: and receiving a first preset height and a second preset height set by a user through the touch screen and/or the adjusting knob.
Optionally, the method further comprises: receiving an automatic driving request; detecting the whole vehicle state of the agricultural machine according to the automatic driving request; and under the condition that the agricultural machine meets the automatic driving condition according to the whole vehicle state, controlling the agricultural machine to enter an automatic driving mode.
Alternatively, it is determined that the agricultural machine satisfies the automatic driving condition in the case where all of the following conditions are satisfied: the agricultural machinery has no faults; the gear of the agricultural machine is in a neutral state or in a neutral state; the engine of the agricultural machine is in a starting state; the braking of the agricultural machinery is in an unactivated state; the parking brake of the agricultural machine is in an unopened state; the rear lifting function of the agricultural machine is in a ready state and is fault-free.
Optionally, the method further comprises controlling the agricultural machine to exit the automatic driving mode if any one of the following conditions is met: the agricultural machinery fails; the rear lifting controller of the agricultural machine sends out a fault prompt; receiving a signal for exiting automatic driving sent by an automatic driving remote control end of the agricultural machine; the parking brake of the agricultural machine is in an open state; the braking of the agricultural machine is in a triggered state; the engine of the agricultural machine is in a flameout state.
Optionally, the method further comprises: acquiring parameter items selected by a user through a first parameter setting interface; and determining the action corresponding to each action mode according to the selected parameter item.
Optionally, the parameter items include a type of implement and a parameter set, the type of implement including a non-hydraulic implement and a hydraulic implement, each parameter set including an action corresponding to each action mode, the method further comprising: in the case that the selected parameter item comprises a non-hydraulic farm tool, the action corresponding to the action mode comprises controlling the farm tool to lift and lower; in the case where the selected parameter item includes a hydraulic implement, the action corresponding to the action pattern includes controlling the implement to lift, lower, and control the hydraulic output to be turned over to perform in place.
Optionally, the method further comprises: acquiring an editing instruction aiming at any parameter set, which is triggered by a user through a first parameter setting interface; entering a second parameter setting interface according to the editing instruction; and acquiring actions corresponding to each action mode set by the user through the second parameter setting interface.
Optionally, the obtaining an action corresponding to each action mode set by the user through the second parameter setting interface further includes: acquiring actions corresponding to each action mode and action time of each action, which are set by a user through a second parameter setting interface; when the action time is smaller than or equal to a preset time threshold, controlling the execution time of the corresponding action according to the action time; when the action time is greater than the preset time threshold, the corresponding action is controlled to be maintained in the starting state according to the action time.
Alternatively, the agricultural machine is a tractor.
A second aspect of the present application provides a processor configured to perform the above-described method for controlling an agricultural machine.
A third aspect of the present application provides an apparatus for controlling an agricultural machine, comprising a processor as described above.
A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to be configured to perform the method for controlling an agricultural machine described above.
A fifth aspect of the present application provides a method for configuring parameters of an agricultural machine, including: displaying a first parameter setting interface, wherein the first parameter setting interface comprises a plurality of selectable parameter items; acquiring parameter items selected by a user through a first parameter setting interface; and determining the action corresponding to each action mode when the agricultural machine is in the automatic driving mode according to the selected parameter items, wherein the action modes comprise at least one of a left turning and turning mode, a right turning and turning mode and an obstacle avoidance detour mode.
Optionally, the parameter items include parameter sets, each parameter set including an action corresponding to each action mode, and the configuration method further includes: receiving an editing instruction aiming at any parameter set, which is triggered by a user through a first parameter setting interface; displaying a second parameter setting interface according to the editing instruction; and determining the action corresponding to each action mode when the agricultural machine is in the automatic driving mode according to the action and the action time corresponding to each action mode set by the user through the second parameter setting interface.
Optionally, the agricultural machine includes an agricultural implement, and the second parameter setting interface further includes at least one of the following function setting options: the operation starts to automatically lower farm tools, turns around to automatically lift the farm tools, disables the automatic power shift of the whole machine and disables the automatic PTO combination and separation; the configuration method further comprises the following steps: and determining the action corresponding to each action mode set by the parameter set corresponding to the second parameter setting interface according to the function setting option selected by the user.
Optionally, the parameter item further includes a type of farm implement, the type of farm implement includes a non-hydraulic farm implement and a hydraulic farm implement, and the configuration method further includes: in the case that the selected parameter item comprises a hydraulic farm tool, the configurable actions of the second parameter setting interface comprise lifting, lowering, turning and hydraulic output of the farm tool to be executed in place; in the case that the selected parameter item includes a non-hydraulic implement, the second parameter setting interface configurable action includes lifting and lowering of the implement.
Optionally, the agricultural machine includes a touch screen, and displaying the first parameter setting interface includes: acquiring a setting instruction triggered by a user through a touch screen; and displaying the first parameter setting interface according to the setting instruction.
Optionally, the agricultural machine further comprises an adjusting knob and an agricultural implement, and the configuration method further comprises: the method comprises the steps of obtaining a first preset height and a second preset height which are set by a user through a touch screen and/or an adjusting knob, wherein the first preset height is a farm tool lifting height in a left turning and turning mode, a right turning and turning mode and an obstacle avoidance detour mode, and the second preset height is a rear power output clutch combining and separating height.
Optionally, the configuration method further comprises: and updating the first parameter setting interface and the second parameter setting interface according to the requirements.
A sixth aspect of the present application provides a processor configured to perform the above-described method of configuring agricultural machine parameters.
A seventh aspect of the present application provides an agricultural machine parameter configuration apparatus, including the processor described above.
An eighth aspect of the present application provides a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to be configured to perform the method of configuring agricultural machine parameters described above.
A ninth aspect of the present application provides an agricultural machine comprising: an agricultural implement; the above-mentioned device for controlling an agricultural machine, and/or the above-mentioned configuration device of agricultural machine parameters.
Alternatively, the agricultural machine is a tractor.
Through the technical scheme, the action mode of the agricultural machine can be adjusted according to different operation demands in the operation process of the automatic driving mode, manual participation is not needed for repeatedly adjusting the action of the agricultural machine, the labor intensity of operators is reduced, and the operation efficiency is improved.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:
FIG. 1 schematically illustrates a flow diagram of a method for controlling an agricultural machine according to an embodiment of the present application;
FIG. 2 schematically illustrates a first parameter setting interface for a method of controlling an agricultural machine according to an embodiment of the present application;
FIG. 3 schematically illustrates a second parameter setting interface for a method of controlling an agricultural machine according to an embodiment of the present application;
FIG. 4 schematically illustrates a third parameter setting interface for a method of controlling an agricultural machine according to an embodiment of the present application;
FIG. 5 schematically illustrates a control schematic of a method for controlling an agricultural machine according to an embodiment of the present application;
fig. 6 schematically shows a flow diagram of a method of configuring agricultural machine parameters according to an embodiment of the present application;
fig. 7 schematically shows an internal structural view of a computer device for a method of controlling an agricultural machine according to an embodiment of the present application;
fig. 8 schematically shows an internal structural view of a computer device of a configuration method of agricultural machine parameters according to an embodiment of the present application;
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
Fig. 1 schematically shows a flow diagram of a method for controlling an agricultural machine according to an embodiment of the present application. As shown in fig. 1, in an embodiment of the present application, there is provided a method for controlling an agricultural machine, including the steps of:
Under different agricultural working environments, different working modes can be adopted for the agricultural machinery. In order to reduce the labor intensity of operators, the agricultural machinery can adopt an automatic driving operation mode. In one embodiment, the agricultural machine may be a tractor.
In one embodiment, the method further comprises: receiving an automatic driving request; detecting the whole vehicle state of the agricultural machine according to the automatic driving request; and under the condition that the agricultural machine meets the automatic driving condition according to the whole vehicle state, controlling the agricultural machine to enter an automatic driving mode.
Agricultural machinery requires an autopilot operation, and first, a processor may receive an autopilot request. The processor may detect a complete vehicle state of the agricultural machine based on the autopilot request. The whole vehicle state of the agricultural machine can comprise an operation state, a gear state, an engine state, a brake state, a parking brake state, a rear lifting function state, a rear lifting operation state and the like of the agricultural machine. The processor can determine that the agricultural machine meets the automatic driving condition according to the whole vehicle state and control the agricultural machine to enter an automatic driving mode. The automatic driving mode can achieve operation path planning of the agricultural machine and automatic running of the agricultural machine.
In one embodiment, the agricultural machine is determined to satisfy the autopilot condition if all of the following conditions are satisfied: the agricultural machinery has no faults; the gear of the agricultural machine is in a neutral state or in a target gear; the engine of the agricultural machine is in a starting state; the braking of the agricultural machinery is in an unactivated state; the parking brake of the agricultural machine is in an unopened state; the rear lifting function of the agricultural machine is in a ready state and is fault-free.
The processor can determine that the agricultural machine meets the automatic driving condition according to the whole vehicle state under the condition that the processor detects that the whole vehicle state of the agricultural machine is the condition that the agricultural machine is fault-free, the gear is in a neutral gear state or in a target gear, the engine is in a starting state, the brake is in a non-triggering state, the parking brake is in a non-opening state and the post lifting function is in a ready state and is fault-free. Under the condition that the agricultural machine meets the automatic driving condition according to the whole vehicle state, the processor can control the agricultural machine to carry out an automatic driving mode. The agricultural machine can be an automatic gear agricultural machine or a manual gear agricultural machine. If the agricultural machine is an automatic gear agricultural machine and the automatic driving condition needs to be satisfied, the gear of the agricultural machine may be in a neutral state. If the agricultural machine is a manual gear agricultural machine and the automatic driving condition needs to be satisfied, the gear of the agricultural machine may be a gear required for the target vehicle speed. The agricultural machine having no fault may mean that the agricultural machine does not have a fault affecting the running or steering of the vehicle. The failure to use the brake when the agricultural machine is in the autopilot mode may be indicated as the brake being in an unactuated state. The rear lift controller of the agricultural machine may indicate that the rear lift function is not faulty when it does not issue a fault indication. The rear lift function being in a ready state may refer to the implement hanging in place, the rear power take-off shaft being connected and the hydraulic output circuit and piping being connected.
In one embodiment, the method further comprises controlling the agricultural machine to exit the autonomous mode if any of the following conditions are met: the agricultural machinery fails; the rear lifting controller of the agricultural machine sends out a fault prompt; receiving a signal for exiting automatic driving sent by an automatic driving remote control end of the agricultural machine; the parking brake of the agricultural machine is in an open state; the braking of the agricultural machine is in a triggered state; the engine of the agricultural machine is in a flameout state.
When the agricultural machine is in an automatic driving process, if the processor detects that the parking brake of the agricultural machine is in an open state or detects that the braking brake of the agricultural machine is in a triggered state, the processor can control the agricultural machine to exit from the automatic driving mode when detecting that the engine of the agricultural machine is in a flameout state. When the agricultural machine fails, i.e., the agricultural machine fails to affect the travel or steering of the agricultural machine, the processor may control the agricultural machine to exit the autopilot mode to adjust the operating status of the agricultural machine. When the rear lifting controller fails, the rotary power cannot be provided for the agricultural machine, and at this time, the processor can control the agricultural machine to exit the automatic driving mode. When the processor receives the automatic driving signal of the exit signal sent by the automatic driving remote control end of the agricultural machine, the processor can control the agricultural machine to exit the automatic driving mode.
During operation of the agricultural machine in the automatic driving mode when the automatic driving condition is met, the processor can acquire an operation signal of the agricultural machine. The operation signal may be to control the agricultural machine to start operation, to control the agricultural machine to turn left and turn around, to control the agricultural machine to turn right and turn around and so on. In the case that the agricultural machine encounters an obstacle and cannot advance, the operation signal may also be to control the agricultural machine to avoid the obstacle and detour. When the operation signal of the agricultural machine is acquired, the processor may determine an operation mode of the agricultural machine based on the operation signal. The action mode may be at least one of a left turn and turn mode, a right turn and turn mode, and an obstacle avoidance detour mode. That is, in the case where the job signal may be to control the left turn around of the agricultural machine, the action mode of the agricultural machine may be a left turn around mode; in the case where the job signal may be to control the agricultural machine to turn right, the action mode of the agricultural machine may be a turning right mode. The action mode may also be a job mode. In the case where the operation signal may be a control to start an operation of the agricultural machine, the operation mode of the agricultural machine may be an operation mode.
In the case of determining an action mode of the agricultural machine, the processor may control the agricultural machine to perform an action corresponding to the action mode. The agricultural machine may include a farm tool, which may be a plow tool, and the like.
In one embodiment, the agricultural machine includes an implement, the action mode further includes a work mode, and controlling the agricultural machine to perform an action corresponding to the action mode includes: in the working mode, controlling the farm tool to descend and controlling the hydraulic output to be executed in place; controlling the farm tool to lift in a left turning and turning mode or a right turning and turning mode until the farm tool is lifted to a first preset height, controlling the farm tool to turn over, and controlling the farm tool to drop after the turning over is completed; under the obstacle avoidance detouring mode, controlling the farm tool to be lifted to a first preset height until the detouring is finished, and controlling the farm tool to be lowered; wherein, in the process of controlling the lifting of the farm tool, when the farm tool is lifted to a second preset height, the rear power output clutch of the farm machine is automatically separated; in the process of controlling the agricultural implement to descend, the rear power output clutch is automatically combined when the agricultural implement descends to a second preset height.
In one embodiment, the agricultural machine further comprises a touch screen and/or an adjustment knob, the method further comprising: and receiving a first preset height and a second preset height set by a user through the touch screen and/or the adjusting knob.
In order to control the agricultural machine to perform an operation corresponding to the operation mode, when it is determined that the operation mode of the agricultural machine is the operation mode, the processor may first control the agricultural machine to be lowered in the operation mode and then control the hydraulic pressure output to be performed in place to complete the operation mode of the agricultural machine. The operation mode may be a plow operation of an agricultural machine. When the action of opening or closing the hydraulic output valve of the agricultural machine reaches a preset time, it may be indicated that the hydraulic output is performed in place.
Under the condition that the action mode of the agricultural machine is determined to be a left turning and turning mode or a right turning and turning mode, firstly, the processor can control the agricultural tool to be lifted and can lift the agricultural tool to a first preset height. The first preset height can be set by a user through the touch screen and/or the adjusting knob, and can be larger than or equal to the height enabling the farm tool to normally overturn. After the processor receives a first preset height set by a user through the touch screen and/or the adjusting knob, the processor can control the farm tool to be lifted to the first preset height. Under the condition that the farm tool is lifted to a first preset height, the processor can control the farm tool to overturn, and can control the farm tool to drop after the overturn is completed.
The agricultural machine may be equipped with obstacle avoidance radar. In the operation process of the agricultural machinery, if the obstacle avoidance radar detects that an obstacle exists in front of the operation or a detour route exists in a planned path, the processor can receive an obstacle signal detected by the obstacle avoidance radar. The signal of the obstacle may be the width of the obstacle or the like. The processor may determine that the action mode of the agricultural machine is an obstacle avoidance detour mode if an obstacle signal is received. For example, if the obstacle avoidance radar detects that there is an obstacle in front of the operation of the agricultural machine and the obstacle blocks the operation of the agricultural machine in the width direction, the processor may receive the width signal of the obstacle and determine that the operation mode of the agricultural machine is the obstacle avoidance detour mode. In this mode, the processor may route the detour according to the size of the obstacle and control the implement to be lifted and lift the implement to a first predetermined height. The size of the obstacle may be expressed as a size of the obstacle, and may be, for example, a width. The first preset height may refer to a safety height of lifting of the farm implement in a left turn-around mode, a right turn-around mode, and an obstacle avoidance detour mode. And when the obstacle avoidance radar detects that no obstacle exists in front of the work and the detour route is completed, determining that the detour of the farm tool is finished. The processor may control the implement to be lowered in the event that the implement detouring is completed.
In controlling the lifting of the agricultural implement, the processor may control the agricultural implement to be lifted to a second predetermined height. When the farm implement is lifted to a second preset height, the rear power take-off clutch of the farm machine can be automatically disengaged. At this time, the agricultural machine may not output the rotation power. The processor may control the lowering of the farm implement according to the operational requirements of the farm machine. In the process of controlling the agricultural implement to descend, the rear power output clutch can be automatically combined when the agricultural implement descends to a second preset height. At this time, the agricultural machine may output rotational power to the agricultural implement. The second preset height may be greater than the first preset height. The second preset height may be a height at which the rear power output clutch is engaged and disengaged.
The first preset height and the second preset height may be set by a user through a touch screen and/or an adjusting knob. The touch screen may be an APP interface or the like. The first preset height and the second preset height are set through the touch screen, so that man-machine interaction can be realized, and the operation process of the agricultural machine is more flexible. The adjusting button may be a knob having a numerical value adjusting function, such as a armrest knob. When the user sets the first preset height and the second preset height through the touch screen and/or the adjusting knob, the processor can receive the first preset height and the second preset height set by the user.
In one embodiment, the method further comprises: acquiring parameter items selected by a user through a first parameter setting interface; and determining the action corresponding to each action mode according to the selected parameter item.
In one embodiment, the parameter items include a type of implement and a set of parameters, the type of implement including a non-hydraulic implement and a hydraulic implement, each set of parameters including an action corresponding to each action pattern, the method further comprising: in the case that the selected parameter item comprises a non-hydraulic farm tool, the action corresponding to the action mode comprises controlling the farm tool to lift and lower; in the case where the selected parameter item includes a hydraulic implement, the action corresponding to the action pattern includes controlling the implement to lift, lower, and control the hydraulic output to be turned over to perform in place.
In order to meet the diversification of the action requirements of the agricultural machinery, the parameters of the agricultural machinery can be configured through a parameter setting interface. The parameter setting interface may include a first parameter setting interface and may also include a second parameter setting interface. The first parameter setting interface may include parameter items, and the parameter items may include types and parameter groups of farm tools. Specifically, the types of farm tools may include non-hydraulic farm tools and hydraulic farm tools, and the parameter sets of each farm tool may include actions corresponding to each action pattern.
As shown in fig. 2, the first parameter setting interface may refer to a navigation information monitoring table of the agricultural machine. The type of farm implement may be selected as a non-hydraulic farm implement or a hydraulic farm implement. If the farm implement is a hydraulic farm implement, the non-hydraulic farm implement option may not be checked. The farm tool parameters may be selected as parameter set 1, parameter set 2, and parameter set 3. As shown in fig. 2, the first parameter setting interface may also display navigation status information. Further, the navigation state information may include navigation positioning information and navigation state information. The navigational positioning information may include a positioning compass bearing, a navigational based vehicle speed, a navigational tilt angle, a vehicle altitude, a vehicle positioning latitude, and a vehicle positioning longitude. The navigation status information may include a navigation on state, a navigation failure code, a navigation driving state, a navigation request vehicle speed, and a navigation request gear. When the agricultural machine is a manual gear agricultural machine, the navigation controller can calculate a required gear according to the requested vehicle speed. In the case where the agricultural machine is an automatic transmission agricultural machine, the navigation request gear may be set to a neutral state. The first parameter device interface may also monitor farm tool status. Further, the farm tool state may include a work state, a left turn around, a right turn around, a detour from obstacle, and the like. Specifically, the job status may be unexecuted, in the course of a farm implement lowering, in the course of a valve execution, and job completion. The valve executing state can be hydraulic output of the hydraulic valve, and hydraulic power can be provided for the agricultural machine so as to enable the agricultural machine to execute actions such as turning of a plow. The left turn may be left-hand, not performed, in the lifting of the implement, in the turning of the implement, in the lowering of the implement, and left-hand. The right turn u state may be unexecuted, in the lifting of the implement, in the turning of the implement, in the lowering of the implement, and right turn u completed. The obstacle avoidance detouring state may be unexecuted, in farm implement lifting, in detouring, in farm implement lowering, and detouring completed.
If the user selects that the type of farm tool is a hydraulic farm tool on the first parameter setting interface, the processor may display the second parameter setting interface as shown in fig. 3 when displaying the second parameter setting interface according to the editing instruction.
The second parameter setting interface as shown in fig. 3 may refer to a hydraulic farm implement function setting table. The hydraulic farm tool function setting table may include options for hydraulic output and function setting. The hydraulic output may be set in the second parameter setting interface as shown in fig. 3 for the operation mode, the left turn u mode, and the right turn u mode. Since the hydraulic output is controlled by the four-way hydraulic output valve, the hydraulic output may include 4-way hydraulic outputs, i.e., output 1, output 2, output 3, and output 4 as shown in fig. 3. The hydraulic output of the hydraulic valve can provide hydraulic power for the agricultural machine. For each hydraulic output, 3 actions may be set. That is, each action may include 3 action options of forward opening, reverse opening, and stop opening. Meanwhile, the action time, namely the time for opening the hydraulic valve, can be set for 3 action options. Further, the operation time may be 0s to 60s. If it is necessary to drive the agricultural implement with the hydraulic motor, the operation time of the hydraulic valve may be set to 61s, and at this time, the valve of the hydraulic valve may be considered to be in a normally open state. Different functions can be set according to the action requirements of different farm tools. The second parameter setting interface as shown in fig. 3 may further include a function setting option, and specifically, may include an operation start automatic tool lowering option, a turning around automatic tool lifting option, a complete machine automatic power shift disabling option, an automatic PTO coupling and decoupling disabling option, and the like. The agricultural machinery which can be power gear shifting is aimed at by disabling the automatic power gear shifting option of the whole machine. In the operation process of the agricultural machinery with power shifting, if the option of disabling the whole machine automatic power shifting is not selected, the automatic shifting can be completed in a preset interval according to the load and the speed of the agricultural machinery. Disabling the automatic PTO engagement and disengagement option may refer to disabling automatic engagement and disengagement of the rear power take-off clutch of the agricultural machine. Disabling the automatic PTO coupling and decoupling option may be for agricultural machines requiring rotational power take off, for example, agricultural machines that include agricultural implements such as rotary tilling plows. In the operation process of the agricultural machine, if the option of disabling the automatic PTO combination and separation is not selected, namely, when the automatic PTO combination and separation is started, the rear power output clutch is automatically separated under the condition that the agricultural tool is lifted to the second preset height; when the farm implement descends to the second preset height, the rear power output clutch is automatically combined. If the disabled automatic PTO coupling and decoupling option is selected, the rear power take-off clutch is in a coupling state during lifting and lowering of the farm implement.
If the user selects that the farm tool is of a non-hydraulic farm tool type on the first parameter setting interface, the processor may display the second parameter setting interface as shown in fig. 4 when displaying the second parameter setting interface according to the edit instruction. The second parameter setting interface as shown in fig. 4 may refer to a non-hydraulic farm implement function setting table. I.e. the second parameter setting interface may set a parameter set of the non-hydraulic implement. The non-hydraulic farm implement function setting table may include options for hydraulic output and function setting. The hydraulic output of the hydraulic valve can provide hydraulic power for the agricultural machine and perform actions such as overturning. Therefore, when the farm implement is a non-hydraulic farm implement, the corresponding action of the farm machine in its action mode may not include turning over and controlling the hydraulic output to execute in place. Therefore, the hydraulic output may not be set by the non-hydraulic farm tool function setting table. In the case where the type of implement is selected to be a non-hydraulic implement, the function of the implement may be set at a second parameter setting interface as shown in FIG. 4. The function setting can comprise the steps of automatically lowering farm tools during operation, automatically lifting the farm tools during turning around, disabling automatic power shifting of the whole machine, disabling automatic PTO combination and separation and the like.
Setting parameters of the farm tool, firstly, the processor can acquire parameter items selected by a user through the first parameter setting interface. The parameter items may include types and parameter groups of farm tools. Specifically, the types of farm tools may include non-hydraulic farm tools and hydraulic farm tools, and the parameter sets of each farm tool may include actions corresponding to each action pattern.
In the case that the parameter item selected by the user through the first parameter setting interface is acquired, the processor may determine an action corresponding to each action mode according to the selected parameter item. Specifically, when the processor obtains that the user selects the farm tool type in the parameter items of the first parameter setting interface as the non-hydraulic farm tool, that is, when the selected parameter items include the non-hydraulic farm tool, the processor may determine an action corresponding to the action mode according to the selected parameter items. The action corresponding to the action mode can comprise controlling the lifting and lowering of the farm tool. When the processor acquires that the user selects the farm tool type in the parameter item of the first parameter setting interface as the hydraulic farm tool, that is, when the selected parameter item comprises the hydraulic farm tool, the processor can determine the action corresponding to the action mode according to the selected parameter item. The action corresponding to the action mode can comprise lifting, lowering and controlling the hydraulic output to turn over and execute in place.
In one embodiment, the method further comprises: acquiring an editing instruction aiming at any parameter set, which is triggered by a user through a first parameter setting interface; entering a second parameter setting interface according to the editing instruction; and acquiring actions corresponding to each action mode set by the user through the second parameter setting interface.
In one embodiment, the act of obtaining the user settings corresponding to each action mode via the second parameter setting interface further comprises: acquiring actions corresponding to each action mode and action time of each action, which are set by a user through a second parameter setting interface; when the action time is smaller than or equal to a preset time threshold, controlling the execution time of the corresponding action according to the action time; and under the condition that the action time is greater than a preset time threshold, determining that the action corresponding to the action time control is maintained in a starting state.
In the case of determining an action corresponding to each action mode, the processor may specifically set the action corresponding to each action mode through the second parameter setting interface. Firstly, the processor can acquire an editing instruction aiming at any parameter group, which is triggered by a user through the first parameter setting interface, and can enter the second parameter setting interface according to the triggered editing instruction. For example, in the case that there are 3 parameter groups, the 3 parameter groups may be represented as parameter group 1, parameter group 2, and parameter group 3, and the user may trigger the editing instruction of parameter group 1, or may trigger the editing instruction of parameter group 2, or may trigger the editing instruction of parameter group 3 through the first parameter setting interface. If the user triggers the editing instruction of the parameter set 1 through the first parameter setting interface, the user can enter the second parameter setting interface according to the editing instruction to set the parameters of the parameter set 1.
After entering the second parameter setting interface, the processor may acquire the actions corresponding to each action mode set by the user through the second parameter setting interface. Further, the processor may acquire the action corresponding to each action mode and the action time of each action set by the user through the second parameter setting interface. The action modes can be a start operation mode, a left turning and turning mode and a right turning and turning mode, and correspond to a start operation farm tool setting option, a left turning and a turning and turning farm tool setting option in the second parameter setting interface. The corresponding actions of each action mode can be forward overturn, reverse overturn and stop overturn, and the corresponding hydraulic output in the second parameter setting interface is a forward option, the corresponding hydraulic output is a reverse option and the corresponding hydraulic output is a stop option.
The action time of each action can also be set in the second parameter setting interface. When the action time is less than or equal to the preset time threshold, the processor may control the execution time of the corresponding action according to the action time. Wherein, the action time can be 0 s-60 s. The preset time threshold may be 60s. For example, in the case where the action time is 30s, the action time is less than or equal to the preset time threshold 60s, and the processor may control the execution time for the action to be 30s. And under the condition that the action time is greater than a preset time threshold, the processor can determine that the action position corresponding to the action time control is in a starting state. For example, in the case where it is necessary to drive an agricultural implement with a hydraulic motor, the actuation time of the hydraulic valve may be set to 61s, at which time the actuation time is greater than a preset time threshold 60s, that is, the valve of the hydraulic valve is in a normally open state, and the processor may control the corresponding actuation to be maintained in a start state according to the actuation time.
In one embodiment, as shown in fig. 5, the agricultural machine may access the direction and speed control through the navigation controller in the unmanned operation mode, and may feed back the direction and speed control signals to the whole vehicle controller. The whole vehicle controller can make an execution decision according to the parameter setting condition of the touch screen or the written programming program of the farm tool action. Under the condition that the whole vehicle controller makes an execution decision, the whole vehicle controller can send a decision instruction to the rear lifting controller and the gearbox controller so as to control the action of the rear lifting hydraulic oil cylinder, the action of the ACV hydraulic output valve and the action of the PTO clutch. The rear lift controller and the gearbox controller can also feed back the state information of the rear lift cylinder, the ACV hydraulic output valve and the PTO clutch to the navigation controller. The lifting of the farm tool can be controlled according to the action of the rear lifting hydraulic cylinder, the turning control of the farm tool can be carried out by the action of the ACV hydraulic output valve, and the rotation power can be provided for the farm machine by the action of the PTO clutch. Wherein the PTO clutch may refer to the rear power take off clutch described above.
Through the technical scheme, the action mode of the agricultural machine can be adjusted according to different operation demands in the operation process of the automatic driving mode, manual participation is not needed for repeatedly adjusting the action of the agricultural machine, the labor intensity of operators is reduced, and the operation efficiency is improved.
Fig. 6 schematically shows a flow diagram of a method of configuring agricultural machine parameters according to an embodiment of the present application. As shown in fig. 6, in an embodiment of the present application, there is provided a method for configuring parameters of an agricultural machine, including the steps of:
In one embodiment, the agricultural machine includes a touch screen, and displaying the first parameter setting interface includes: acquiring a setting instruction triggered by a user through a touch screen; and displaying the first parameter setting interface according to the setting instruction.
Under different agricultural working environments, different working modes can be adopted for the agricultural machinery. In order to reduce the labor intensity of operators, agricultural machines can perform agricultural operations in an automatic driving operation mode. The agricultural machine may be a tractor or the like, and the agricultural machine may include a touch screen. The touch screen may be an APP interface or the like. By triggering the setting instruction through the touch screen, man-machine interaction can be realized, so that the operation process of the agricultural machine is more flexible.
In order to meet the diversification of the action requirements of the agricultural machinery, the parameters of the agricultural machinery can be configured through a parameter setting interface. The parameter setting interface may include a first parameter setting interface and may also include a second parameter setting interface. The detailed information of the first parameter setting interface and the second parameter setting interface are as shown in fig. 2, 3 and 4, and the description of the functions of the first parameter setting interface and the second parameter setting interface are also identical to those of the above embodiments, which will not be described in detail herein. In the method for controlling an agricultural machine, when the parameters of the agricultural machine are configured, the configuration may be performed by adopting a technical scheme corresponding to the configuration method of the parameters of the agricultural machine in the embodiment, which is not described herein again.
When the parameters of the agricultural machine are configured, the terminal may display a first parameter setting interface. Specifically, the terminal may acquire a setting instruction triggered by the user through the touch screen. Under the condition that the setting instruction is acquired, the terminal can display a first parameter setting interface according to the setting instruction. Wherein the first parameter setting interface may comprise a plurality of selectable parameter items. The parameter items may include a set of parameters and a type of farm implement. Each parameter set may include an action corresponding to each action pattern, and the types of farm implements may include non-hydraulic farm implements and hydraulic farm implements.
After the first parameter setting interface is displayed, the terminal can acquire parameter items selected by the user through the first parameter setting interface. That is, the set of parameters and/or the type of farm implement selected by the user through the first parameter setting interface may be obtained.
In one embodiment, the parameter items comprise parameter sets, each parameter set comprising an action corresponding to each action mode, the configuration method further comprising: receiving an editing instruction aiming at any parameter set, which is triggered by a user through a first parameter setting interface; displaying a second parameter setting interface according to the editing instruction; and determining the action corresponding to each action mode when the agricultural machine is in the automatic driving mode according to the action and the action time corresponding to each action mode set by the user through the second parameter setting interface.
Under the condition that the parameter items are acquired, the terminal can determine the corresponding action of each action mode of the agricultural machine when the agricultural machine is in the automatic driving mode according to the selected parameter items. The action mode may be at least one of an operation mode, a left turn and turn mode, a right turn and turn mode, and an obstacle avoidance detour mode. The agricultural machine may be considered to be in an autonomous driving mode in the event that the agricultural machine is free of faults, the gear is in a neutral state, the engine is in a started state, the brake is in an unactuated state, the parking brake is in an unopened state, and the post-lift function is in a ready state and free of faults. Wherein, the agricultural machine having no fault may mean that the agricultural machine has no fault affecting the running or steering of the vehicle. The agricultural machine may be an automatic gear agricultural machine, or a manual gear agricultural machine. If the agricultural machine is an automatic gear agricultural machine and the automatic driving condition needs to be satisfied, the gear of the agricultural machine may be in a neutral state. If the agricultural machine is a manual gear agricultural machine and the automatic driving condition needs to be satisfied, the gear of the agricultural machine may be a gear required for the target vehicle speed. The failure to use the brake when the agricultural machine is in the autopilot mode may be indicated as the brake being in an unactuated state. The rear lift controller of the agricultural machine may indicate that the rear lift function is not faulty when it does not issue a fault indication. The rear lift function being in a ready state may refer to the implement hanging in place, the rear power take-off shaft being connected and the hydraulic output circuit and piping being connected.
Specifically, the terminal may receive an edit instruction for any parameter set triggered by the user through the parameter setting interface, and may display a second parameter setting interface according to any edit instruction. For example, in the case that there are 3 parameter groups, the 3 parameter groups may be represented as parameter group 1, parameter group 2, and parameter group 3, and the user may trigger the editing instruction of parameter group 1, or may trigger the editing instruction of parameter group 2, or may trigger the editing instruction of parameter group 3 through the first parameter setting interface. If the user triggers the editing instruction of the parameter set 1 through the first parameter setting interface, the second parameter setting interface may be displayed according to the editing instruction to set the parameter set 1.
In one embodiment, the agricultural machine includes an agricultural implement, and the second parameter setting interface further includes at least one of the following function setting options: the operation starts to automatically lower farm tools, turns around to automatically lift the farm tools, disables the automatic power shift of the whole machine and disables the automatic PTO combination and separation; the configuration method further comprises the following steps: and determining the action corresponding to each action mode set by the parameter set corresponding to the second parameter setting interface according to the function setting option selected by the user.
In one embodiment, the parameter items further comprise a type of farm implement, the type of farm implement comprising a non-hydraulic farm implement and a hydraulic farm implement, the configuration method further comprising: in the case that the selected parameter item comprises a hydraulic farm tool, the configurable actions of the second parameter setting interface comprise lifting, lowering, turning and hydraulic output of the farm tool to be executed in place; in the case that the selected parameter item includes a non-hydraulic implement, the second parameter setting interface configurable action includes lifting and lowering of the implement.
The second parameter setting interface may also include a function setting option. The function setting options may include work to begin automatic lowering of the farm implement, turning around to automatically lift the farm implement, disabling automatic power shifting of the whole machine, and disabling automatic PTO coupling and decoupling. Accordingly, the terminal can determine an action corresponding to each action mode according to the user through the function setting option in the second parameter setting interface. Wherein the action corresponding to each action mode is set by the parameter set corresponding to the second parameter setting interface. Specifically, when the farm implement type in the parameter items selected by the user through the second parameter setting interface is a hydraulic farm implement, the actions configurable by the second parameter setting interface may include lifting, lowering, turning, and executing the hydraulic output of the farm implement in place. In the case where the non-hydraulic farm implement is included in the parameter items selected by the user via the second parameter setting interface, the configurable actions of the second parameter setting interface may include lifting and lowering of the farm implement. As can be seen from the above, when the type of farm implement is selected as the non-hydraulic farm implement, the action corresponding to the action mode may not include the action of turning over and controlling the hydraulic output to be executed in place.
In one embodiment, the agricultural machine further comprises an adjustment knob and an agricultural implement, the deployment method further comprising: the method comprises the steps of obtaining a first preset height and a second preset height which are set by a user through a touch screen and/or an adjusting knob, wherein the first preset height is a farm tool lifting height in a left turning and turning mode, a right turning and turning mode and an obstacle avoidance detour mode, and the second preset height is a rear power output clutch combining and separating height.
In the lifting process of the farm tool, the terminal can obtain a first preset height and a second preset height which are set by a user through the touch screen and/or the adjusting knob, wherein the first preset height can be the lifting height of the farm tool in a left turning and turning mode, a right turning and turning mode and an obstacle avoidance and detouring mode, and the first preset height can be greater than or equal to the height capable of enabling the farm tool to normally turn. The second preset height may refer to a height at which the rear power output clutch is engaged and disengaged when the agricultural implement is lifted or lowered.
In one embodiment, the configuration method further comprises: and updating the first parameter setting interface and the second parameter setting interface according to the requirements.
Because the operation environment of the agricultural machine is complex and changeable, the terminal can update the first parameter setting interface and the second parameter setting interface according to the requirements so as to adjust the action of the agricultural machine according to different operation requirements of the agricultural machine. Specifically, the terminal may update the first parameter setting interface and the second parameter setting interface according to a programming program of the farm tool action input by the user through the touch screen.
According to the technical scheme, the actions corresponding to the action modes of the agricultural machine can be conveniently and rapidly adjusted through the parameter setting interface, and different operation requirements of the agricultural machine can be met. Meanwhile, the action programming program of the agricultural machine is written into the touch screen, so that the action of the agricultural machine can be accurately controlled, and the working efficiency of the agricultural machine is greatly improved. And through a programming mode, the action mode of the farm tool can be better adapted to the requirement of automatic driving operation.
FIG. 1 is a flow diagram of a method for controlling an agricultural machine in one embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
FIG. 6 is a flow chart of a method of configuring parameters of an industrial machine in one embodiment. It should be understood that, although the steps in the flowchart of fig. 6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 6 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
The embodiment of the application provides a processor, which is used for running a program, wherein the program runs to execute the method for controlling the agricultural machinery.
In one embodiment, an apparatus for controlling an agricultural machine is provided, including a processor as described above.
The embodiment of the application provides a processor, which is used for running a program, wherein the configuration method of the agricultural machine parameters is executed when the program runs.
In one embodiment, there is provided an agricultural machine parameter configuration apparatus including the processor described above.
The embodiment of the application provides a storage medium having a program stored thereon, which when executed by a processor, implements the above-described method for controlling an agricultural machine.
The embodiment of the application provides a storage medium, on which a program is stored, which when executed by a processor, implements the above-described method for configuring parameters of an agricultural machine.
The embodiment of the application provides an agricultural machine, which comprises an agricultural tool, the device for controlling the agricultural machine and/or the configuration device of the agricultural machine parameters.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor a01, a network interface a02, a memory (not shown) and a database (not shown) connected by a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing data such as operation signals of the agricultural machinery. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02, when executed by the processor a01, implements a method for controlling an agricultural machine.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 8. The computer apparatus includes a processor a01, a network interface a02, a display screen a04, an input device a05, and a memory (not shown in the figure) which are connected through a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes an internal memory a03 and a nonvolatile storage medium a06. The nonvolatile storage medium a06 stores an operating system B01 and a computer program B02. The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a06. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program, when executed by the processor a01, implements a method of configuring agricultural machine parameters. The display screen a04 of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device a05 of the computer device may be a touch layer covered on the display screen, or may be a key, a track ball or a touch pad arranged on a casing of the computer device, or may be an external keyboard, a touch pad or a mouse.
It will be appreciated by those skilled in the art that the structures shown in fig. 7 and 8 are block diagrams of only some of the structures associated with the present application and are not intended to limit the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the method for controlling the agricultural machine or the configuration method of the agricultural machine parameters.
The present application also provides a computer program product adapted to perform a program of initialized method steps with method steps for controlling an agricultural machine or configuration method steps of agricultural machine parameters when executed on a data processing device.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (26)
1. A method for controlling an agricultural machine, the method comprising:
acquiring an operation signal of the agricultural machine in the operation process of the agricultural machine in an automatic driving mode;
Determining an action mode of the agricultural machine according to the operation signal, wherein the action mode comprises at least one of a left turning and turning mode, a right turning and turning mode and an obstacle avoidance detour mode;
and controlling the agricultural machine to execute the action corresponding to the action mode.
2. The method for controlling an agricultural machine of claim 1, wherein the agricultural machine includes an implement, the action mode further includes a work mode, and controlling the agricultural machine to perform an action corresponding to the action mode includes:
in the working mode, controlling the farm tool to descend and controlling the hydraulic output to be executed in place;
controlling the farm tool to lift in the left turning and turning mode or the right turning and turning mode until the farm tool is lifted to a first preset height, controlling the farm tool to turn over, and controlling the farm tool to drop after the turning over is completed;
under the obstacle avoidance detouring mode, controlling the farm tool to be lifted to the first preset height until the detouring is finished, and controlling the farm tool to be lowered;
wherein, in the process of controlling the lifting of the farm tool, when the farm tool is lifted to a second preset height, the rear power output clutch of the farm machine is automatically separated; and in the process of controlling the agricultural implement to descend, the rear power output clutch is automatically combined when the agricultural implement descends to the second preset height.
3. The method for controlling an agricultural machine of claim 2, wherein the agricultural machine further comprises a touch screen and/or an adjustment knob, the method further comprising:
and receiving the first preset height and the second preset height set by the user through the touch screen and/or the adjusting knob.
4. The method for controlling an agricultural machine of claim 1, further comprising:
receiving an automatic driving request;
detecting the whole vehicle state of the agricultural machine according to the automatic driving request;
and under the condition that the agricultural machine meets the automatic driving condition according to the whole vehicle state, controlling the agricultural machine to enter an automatic driving mode.
5. The method for controlling an agricultural machine according to claim 4, wherein it is determined that the agricultural machine satisfies an automatic driving condition if all of the following conditions are satisfied:
the agricultural machine is fault-free;
the gear of the agricultural machine is in a neutral gear state or in a target gear;
the engine of the agricultural machine is in a starting state;
the braking of the agricultural machine is in an un-triggered state;
the parking brake of the agricultural machine is in an unopened state;
The post-lifting function of the agricultural machine is in a ready state and is fault-free.
6. The method for controlling an agricultural machine according to claim 1, further comprising controlling the agricultural machine to exit the automatic driving mode if any one of the following conditions is satisfied:
the agricultural machine fails;
the rear lifting controller of the agricultural machine sends out a fault prompt;
receiving a signal for exiting automatic driving sent by an automatic driving remote control end of the agricultural machine;
the parking brake of the agricultural machine is in an open state;
the braking of the agricultural machine is in a triggered state;
the engine of the agricultural machine is in a flameout state.
7. The method for controlling an agricultural machine of claim 1, further comprising:
acquiring parameter items selected by a user through a first parameter setting interface;
and determining the action corresponding to each action mode according to the selected parameter item.
8. The method for controlling an agricultural machine of claim 7, wherein the parameter items include a type of implement and a parameter set, the type of implement including a non-hydraulic implement and a hydraulic implement, each parameter set including an action corresponding to each action mode, the method further comprising:
In the event that the non-hydraulic implement is included in the selected parameter item, the action corresponding to the action mode includes controlling the implement to lift and lower;
in the case that the selected parameter item includes the hydraulic farm tool, the action corresponding to the action mode includes controlling lifting, lowering and controlling hydraulic output to be turned and executed in place.
9. The method for controlling an agricultural machine of claim 8, further comprising:
acquiring an editing instruction for any parameter set triggered by a user through the first parameter setting interface;
entering a second parameter setting interface according to the editing instruction;
and acquiring actions corresponding to each action mode set by the user through the second parameter setting interface.
10. The method for controlling an agricultural machine according to claim 9, wherein the acquiring the action corresponding to each action mode set by the user through the second parameter setting interface further comprises:
acquiring actions corresponding to each action mode and action time of each action, which are set by the user through the second parameter setting interface;
When the action time is smaller than or equal to a preset time threshold, controlling the execution time of the corresponding action according to the action time;
and controlling the corresponding action to be maintained in a starting state according to the action time under the condition that the action time is larger than the preset time threshold.
11. A method for controlling an agricultural machine according to any one of claims 1 to 10, wherein the agricultural machine is a tractor.
12. A method for configuring parameters of an agricultural machine, comprising:
displaying a first parameter setting interface, wherein the first parameter setting interface comprises a plurality of selectable parameter items;
acquiring parameter items selected by a user through the first parameter setting interface;
and determining the action corresponding to each action mode of the agricultural machine when the agricultural machine is in the automatic driving mode according to the selected parameter item, wherein the action modes comprise at least one of a left turning and turning mode, a right turning and turning mode and an obstacle avoidance detour mode.
13. The method of claim 12, wherein the parameter items include parameter sets each including an action corresponding to each action mode, the method further comprising:
Receiving an editing instruction for any parameter set triggered by the user through the first parameter setting interface;
displaying a second parameter setting interface according to the editing instruction;
and determining the action corresponding to each action mode when the agricultural machine is in the automatic driving mode according to the action and the action time corresponding to each action mode set by the user through the second parameter setting interface.
14. The method of claim 13, wherein the agricultural machine includes an agricultural implement and the second parameter setting interface further includes at least one of the following function setting options: the operation starts to automatically lower farm tools, turns around to automatically lift the farm tools, disables the automatic power shift of the whole machine and disables the automatic PTO combination and separation;
the configuration method further comprises the following steps:
and determining the action corresponding to each action mode set by the parameter set corresponding to the second parameter setting interface according to the function setting option selected by the user.
15. The method of claim 13, wherein the parameter items further comprise a type of farm implement, the type of farm implement comprising a non-hydraulic farm implement and a hydraulic farm implement, the method further comprising:
In the case that the selected parameter item includes the hydraulic farm tool, the second parameter setting interface configurable actions include lifting, lowering, flipping, and hydraulic output of the farm tool being performed in place;
in the case where the non-hydraulic implement is included in the selected parameter item, the second parameter setting interface configurable action includes lifting and lowering of the implement.
16. The method of configuring agricultural machine parameters of any one of claims 12 to 15, wherein the agricultural machine includes a touch screen, and wherein displaying the first parameter setting interface includes:
acquiring a setting instruction triggered by a user through the touch screen;
and displaying the first parameter setting interface according to the setting instruction.
17. The method of configuring agricultural machine parameters of claim 16, wherein the agricultural machine further comprises an adjustment knob and an agricultural implement, the method further comprising:
the method comprises the steps of obtaining a first preset height and a second preset height which are set by a user through the touch screen and/or the adjusting knob, wherein the first preset height is the lifting height of the farm tool in the left turning and turning mode, the lifting height of the farm tool in the right turning and turning mode and the lifting height of the farm tool in the obstacle avoidance and detour mode, and the second preset height is the combining and separating height of the rear power output clutch.
18. The method for configuring agricultural machine parameters of claim 13, wherein the method further comprises:
and updating the first parameter setting interface and the second parameter setting interface according to the requirements.
19. A processor, characterized by being configured to perform the method for controlling an agricultural machine according to any one of claims 1 to 11.
20. An apparatus for controlling an agricultural machine, comprising a processor according to claim 19.
21. A processor configured to perform the method of configuring agricultural machine parameters of any one of claims 12 to 18.
22. An agricultural machine parameter configuration apparatus comprising a processor according to claim 21.
23. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to be configured to perform the method for controlling an agricultural machine according to any one of claims 1 to 11.
24. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to be configured to perform a method of configuring agricultural machine parameters according to any one of claims 12 to 18.
25. An agricultural machine, comprising:
an agricultural implement;
an arrangement for controlling an agricultural machine according to claim 20, and/or
A configuration device for agricultural machine parameters according to claim 22.
26. The agricultural machine of claim 25, wherein the agricultural machine is a tractor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210007058.3A CN116414088A (en) | 2022-01-05 | 2022-01-05 | Method for controlling agricultural machine and configuration method for agricultural machine parameters |
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| CN202210007058.3A CN116414088A (en) | 2022-01-05 | 2022-01-05 | Method for controlling agricultural machine and configuration method for agricultural machine parameters |
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| CN202210007058.3A Pending CN116414088A (en) | 2022-01-05 | 2022-01-05 | Method for controlling agricultural machine and configuration method for agricultural machine parameters |
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